cmake_minimum_required(VERSION 3.5)
project(grid_map_ros)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(Eigen3 REQUIRED)

find_package(grid_map_core REQUIRED)
find_package(grid_map_msgs REQUIRED)
find_package(grid_map_cv REQUIRED)

## Specify additional locations of header files
include_directories(
  include
  ${EIGEN3_INCLUDE_DIR}
)

## Declare a cpp library
add_library(${PROJECT_NAME} SHARED
  src/GridMapRosConverter.cpp
  src/GridMapMsgHelpers.cpp
  src/PolygonRosConverter.cpp
)

ament_target_dependencies(${PROJECT_NAME} rclcpp
        cv_bridge
        sensor_msgs nav_msgs std_msgs geometry_msgs visualization_msgs
        grid_map_core grid_map_msgs grid_map_cv
        )

ament_export_dependencies(cv_bridge
        sensor_msgs nav_msgs std_msgs geometry_msgs visualization_msgs
        grid_map_core grid_map_msgs grid_map_cv)
ament_export_interfaces(export_${PROJECT_NAME})
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})

# export include directory
install(
        DIRECTORY include/
        DESTINATION include
)

# export lib
install(TARGETS ${PROJECT_NAME}
        EXPORT export_${PROJECT_NAME}
        LIBRARY DESTINATION lib
        ARCHIVE DESTINATION lib
        RUNTIME DESTINATION bin
        INCLUDES DESTINATION include
        )

if (BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif ()

ament_package()
